Undulatory Magnetic Soft Robot for Lumen Navigation
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Solution Overview
Problem
Current magnetic manipulation systems for microscale and mesoscale devices, such as capsule endoscopes and microrobots, face challenges in scalability and complexity, particularly when attempting to navigate the natural lumens of the human body, as existing designs are either too large or require intricate mechanical components, limiting their ability to traverse through veins, arteries, and intestines effectively.
Innovation Solution
A magnetic robotic device with a compliant body and embedded permanent magnets, propelled via undulatory locomotion generated by a rotating magnetic dipole field, allowing for wireless operation and scalability, as the device uses a non-uniform rotating magnetic field to induce wave-like motion for navigation through lumens without internal moving parts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If magnetic manipulation systems use permanent magnets and electromagnets to control devices, then the device can be manipulated with force and torque, but the system complexity increases and scalability to small sizes is limited
Solution Approach 1:
The patent extracts the magnetic actuation function from complex internal mechanical components and implements it through embedded permanent magnets that interact with external magnetic fields. This eliminates the need for internal moving parts, motors, or power sources, significantly reducing device complexity while maintaining manipulation capability.
Solution Approach 2:
The patent replaces traditional mechanical actuation systems (motors, linkages, internal power sources) with a magnetic field-based actuation system. The compliant body deforms in response to external magnetic fields, substituting mechanical actuation with magnetic field interaction, thereby reducing device complexity and enabling scalability to mesoscale sizes.
2Ease of operation
If magnetic devices are made large enough to be manipulated externally, then they can be controlled, but they become too large to navigate natural lumens
Solution Approach 1:
The patent changes the size parameter of magnetic devices from millimeter-scale to mesoscale (centimeter-scale), enabling external magnetic manipulation while maintaining compatibility with natural lumens. The compliant body structure allows this size increase without compromising navigability, as the soft material adapts to lumen geometries.
Solution Approach 2:
The patent uses a compliant body made of soft, flexible materials that can deform and adapt to the geometry of natural lumens. This flexible shell allows the device to be larger than traditional microrobots while still navigating constrictions, as the material conforms to lumen walls and passages.
3Speed
If articulated magnetic segments with protruding legs are used for locomotion, then snake-like propulsion is achieved, but the device complexity increases and scalability is limited
Solution Approach 1:
The patent merges the functions of articulated segments, protruding legs, and magnetic actuation into a single compliant body with embedded magnets. The compliant material itself provides the articulation and propulsion functions, eliminating the need for separate mechanical components and reducing structural complexity.
Solution Approach 2:
The patent replaces mechanical articulation and leg mechanisms with a compliant body that deforms in response to external magnetic fields. The soft material's inherent flexibility provides the articulation function, while magnetic field interaction provides the actuation, eliminating complex mechanical structures.
4Speed
If rectilinear motion is generated by segments widening and narrowing, then locomotion through tubes is achieved, but internal actuator complexity increases
Solution Approach 1:
The patent replaces internal mechanical actuators that widen and narrow segments with external magnetic field actuation. The compliant body deforms in response to external magnetic fields, providing rectilinear locomotion without internal moving parts or complex actuation mechanisms.
Solution Approach 2:
The patent extracts the actuation function from internal mechanical components and implements it through external magnetic fields interacting with embedded permanent magnets. This eliminates the need for internal actuators, power sources, and control systems, significantly reducing device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables efficient and scalable navigation of mesoscale medical robots through natural lumens, such as blood vessels and intestines, by utilizing a soft-robotic actuator with alternating magnetic polarity permanent magnets and a rotating non-uniform magnetic field, facilitating diagnostic and therapeutic applications with reduced complexity and size constraints.
Implementation Method 1
A magnetic robotic device with a compliant body and embedded permanent magnets, propelled via undulatory locomotion generated by a rotating magnetic dipole field
Implementation Method 2
The magnetic field applies a combination of force and torque to the device without a mechanical connection
Implementation Method 3
The magnetic field applies a combination of force and torque to the device without a mechanical connection
Data Source
AI summary
A system for propelling a magnetic robotic device through a human comprises a magnetic actuator device operable to generate a rotating magnetic field, and a magnetic robotic device comprising a compliant body and at least two permanent magnets supported by and spatially separated about the compliant body. A non-magnetic region can also be oriented between the at least two permanent magnets. The at least two permanent magnets can be alternating or non-alternating in polarity with each other. In response to application of the rotating magnetic field generated by the magnetic actuator device and that is situated proximate the magnetic robotic device, the rotating magnetic field effectuates undulatory locomotion of the magnetic robotic device to propel the magnetic robotic device through a human, such as through a natural lumen. Further, the magnetic robotic device can optionally be supported by a catheter or endoscope to assist with propelling a distal end through a human.